Drake
Action Class Referenceabstract

Base class for actions used by the pick and place demo. More...

#include <drake/examples/kuka_iiwa_arm/pick_and_place/action.h>

Public Member Functions

virtual ~Action ()
 
virtual bool ActionFinished (const WorldState &est_state) const =0
 Returns true if the action has finished based on the provided estimated state. More...
 
virtual bool ActionFailed (const WorldState &est_state) const =0
 Returns true if the action has failed based on the provided estimated state. More...
 
virtual bool ActionStarted () const
 Returns true if the action started. More...
 
double get_action_start_time () const
 Returns the time when the action has started. More...
 
double get_time_since_action_start (double time) const
 Returns elapsed time since beginning of the action. More...
 
virtual void Reset ()
 Resets the action's internal states. More...
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 Action (const Action &)=default
 
Actionoperator= (const Action &)=default
 
 Action (Action &&)=default
 
Actionoperator= (Action &&)=default
 

Protected Member Functions

 Action ()
 
void StartAction (double start_time)
 Set the action initial time. More...
 

Detailed Description

Base class for actions used by the pick and place demo.

E.g., moving the KUKA iiwa arm, and opening / closing the gripper. The commands generate LCM messages.

Constructor & Destructor Documentation

◆ Action() [1/3]

Action ( const Action )
default

◆ Action() [2/3]

Action ( Action &&  )
default

◆ ~Action()

~Action ( )
virtual

◆ Action() [3/3]

Action ( )
inlineprotected

Member Function Documentation

◆ ActionFailed()

virtual bool ActionFailed ( const WorldState est_state) const
pure virtual

Returns true if the action has failed based on the provided estimated state.

Implemented in WsgAction, and IiwaMove.

◆ ActionFinished()

virtual bool ActionFinished ( const WorldState est_state) const
pure virtual

Returns true if the action has finished based on the provided estimated state.

Implemented in WsgAction, and IiwaMove.

◆ ActionStarted()

bool ActionStarted ( ) const
virtual

Returns true if the action started.

◆ get_action_start_time()

double get_action_start_time ( ) const
inline

Returns the time when the action has started.

◆ get_time_since_action_start()

double get_time_since_action_start ( double  time) const
inline

Returns elapsed time since beginning of the action.

◆ operator=() [1/2]

Action& operator= ( Action &&  )
default

◆ operator=() [2/2]

Action& operator= ( const Action )
default

◆ Reset()

void Reset ( )
virtual

Resets the action's internal states.

Reimplemented in IiwaMove.

◆ StartAction()

void StartAction ( double  start_time)
protected

Set the action initial time.


The documentation for this class was generated from the following files: